Rail-Guided Multi-Robot System for the Cooperative Manipulation of Cross-Scale Targets

In the field of biomedicine, contact micromanipulations are mostly based on multi-robot coordinated operations to achieve mechanical contact interactions with a single type of target in a specific task scenario, which has advantages such as high repeatability, high precision and high stability. With the rapid development of biomedical technology, the increasingly complex biological micromanipulation process has been transformed from a single task to a task sequence of several subtasks, which puts forward higher requirements for the coordination, flexibility, operation accuracy and so on. However, due to the immutable configuration of the end-effector, most microrobotic manipulation systems have a fixed operation dimension, which makes it difficult to include the whole processing of complex tasks and meet the differentiated needs of different operational tasks and objectives. Therefore, this paper proposes a formation control based multi-robot dynamical reconfiguration collaborative micromanipulation to meet the dynamic requirements of multi-process complex tasks. By combining macro multi-robot formation control with collaborative micromanipulation, the dynamical reconfiguration of the end-effector under different manipulation tasks is realized. It can execute efficient and precise manipulation on fragile micro-objects ranging from 50 $\mu \mathrm{m}$ and 1000 $\mu \mathrm{m}$, and provide a new idea for accomplishing the whole processing of complex tasks, such as biological microassembly.